Artificial Intelligence Nanodegree

Computer Vision Capstone

Project: Facial Keypoint Detection


Welcome to the final Computer Vision project in the Artificial Intelligence Nanodegree program!

In this project, you’ll combine your knowledge of computer vision techniques and deep learning to build and end-to-end facial keypoint recognition system! Facial keypoints include points around the eyes, nose, and mouth on any face and are used in many applications, from facial tracking to emotion recognition.

There are three main parts to this project:

Part 1 : Investigating OpenCV, pre-processing, and face detection

Part 2 : Training a Convolutional Neural Network (CNN) to detect facial keypoints

Part 3 : Putting parts 1 and 2 together to identify facial keypoints on any image!


*Here's what you need to know to complete the project:

  1. In this notebook, some template code has already been provided for you, and you will need to implement additional functionality to successfully complete this project. You will not need to modify the included code beyond what is requested.

    a. Sections that begin with '(IMPLEMENTATION)' in the header indicate that the following block of code will require additional functionality which you must provide. Instructions will be provided for each section, and the specifics of the implementation are marked in the code block with a 'TODO' statement. Please be sure to read the instructions carefully!

  1. In addition to implementing code, there will be questions that you must answer which relate to the project and your implementation.

    a. Each section where you will answer a question is preceded by a 'Question X' header.

    b. Carefully read each question and provide thorough answers in the following text boxes that begin with 'Answer:'.

Note: Code and Markdown cells can be executed using the Shift + Enter keyboard shortcut. Markdown cells can be edited by double-clicking the cell to enter edit mode.

The rubric contains optional suggestions for enhancing the project beyond the minimum requirements. If you decide to pursue the "(Optional)" sections, you should include the code in this IPython notebook.

Your project submission will be evaluated based on your answers to each of the questions and the code implementations you provide.

Steps to Complete the Project

Each part of the notebook is further broken down into separate steps. Feel free to use the links below to navigate the notebook.

In this project you will get to explore a few of the many computer vision algorithms built into the OpenCV library. This expansive computer vision library is now almost 20 years old and still growing!

The project itself is broken down into three large parts, then even further into separate steps. Make sure to read through each step, and complete any sections that begin with '(IMPLEMENTATION)' in the header; these implementation sections may contain multiple TODOs that will be marked in code. For convenience, we provide links to each of these steps below.

Part 1 : Investigating OpenCV, pre-processing, and face detection

  • Step 0: Detect Faces Using a Haar Cascade Classifier
  • Step 1: Add Eye Detection
  • Step 2: De-noise an Image for Better Face Detection
  • Step 3: Blur an Image and Perform Edge Detection
  • Step 4: Automatically Hide the Identity of an Individual

Part 2 : Training a Convolutional Neural Network (CNN) to detect facial keypoints

  • Step 5: Create a CNN to Recognize Facial Keypoints
  • Step 6: Compile and Train the Model
  • Step 7: Visualize the Loss and Answer Questions

Part 3 : Putting parts 1 and 2 together to identify facial keypoints on any image!

  • Step 8: Build a Robust Facial Keypoints Detector (Complete the CV Pipeline)

Step 0: Detect Faces Using a Haar Cascade Classifier

Have you ever wondered how Facebook automatically tags images with your friends' faces? Or how high-end cameras automatically find and focus on a certain person's face? Applications like these depend heavily on the machine learning task known as face detection - which is the task of automatically finding faces in images containing people.

At its root face detection is a classification problem - that is a problem of distinguishing between distinct classes of things. With face detection these distinct classes are 1) images of human faces and 2) everything else.

We use OpenCV's implementation of Haar feature-based cascade classifiers to detect human faces in images. OpenCV provides many pre-trained face detectors, stored as XML files on github. We have downloaded one of these detectors and stored it in the detector_architectures directory.

Import Resources

In the next python cell, we load in the required libraries for this section of the project.

In [1]:
# Import required libraries for this section

%matplotlib inline

import numpy as np
import matplotlib.pyplot as plt
import math
import cv2                     # OpenCV library for computer vision
from PIL import Image
import time 

Next, we load in and display a test image for performing face detection.

Note: by default OpenCV assumes the ordering of our image's color channels are Blue, then Green, then Red. This is slightly out of order with most image types we'll use in these experiments, whose color channels are ordered Red, then Green, then Blue. In order to switch the Blue and Red channels of our test image around we will use OpenCV's cvtColor function, which you can read more about by checking out some of its documentation located here. This is a general utility function that can do other transformations too like converting a color image to grayscale, and transforming a standard color image to HSV color space.

In [2]:
# Load in color image for face detection
image = cv2.imread('images/test_image_1.jpg')

# Convert the image to RGB colorspace
image = cv2.cvtColor(image, cv2.COLOR_BGR2RGB)

# Plot our image using subplots to specify a size and title
fig = plt.figure(figsize = (8,8))
ax1 = fig.add_subplot(111)
ax1.set_xticks([])
ax1.set_yticks([])

ax1.set_title('Original Image')
ax1.imshow(image)
Out[2]:
<matplotlib.image.AxesImage at 0x7f6b25d3e160>

There are a lot of people - and faces - in this picture. 13 faces to be exact! In the next code cell, we demonstrate how to use a Haar Cascade classifier to detect all the faces in this test image.

This face detector uses information about patterns of intensity in an image to reliably detect faces under varying light conditions. So, to use this face detector, we'll first convert the image from color to grayscale.

Then, we load in the fully trained architecture of the face detector -- found in the file haarcascade_frontalface_default.xml - and use it on our image to find faces!

To learn more about the parameters of the detector see this post.

In [3]:
# Convert the RGB  image to grayscale
gray = cv2.cvtColor(image, cv2.COLOR_RGB2GRAY)

# Extract the pre-trained face detector from an xml file
face_cascade = cv2.CascadeClassifier('detector_architectures/haarcascade_frontalface_default.xml')

# Detect the faces in image
faces = face_cascade.detectMultiScale(gray, 4, 6)

# Print the number of faces detected in the image
print('Number of faces detected:', len(faces))

# Make a copy of the orginal image to draw face detections on
image_with_detections = np.copy(image)

# Get the bounding box for each detected face
for (x,y,w,h) in faces:
    # Add a red bounding box to the detections image
    cv2.rectangle(image_with_detections, (x,y), (x+w,y+h), (255,0,0), 3)
    

# Display the image with the detections
fig = plt.figure(figsize = (8,8))
ax1 = fig.add_subplot(111)
ax1.set_xticks([])
ax1.set_yticks([])

ax1.set_title('Image with Face Detections')
ax1.imshow(image_with_detections)
Number of faces detected: 13
Out[3]:
<matplotlib.image.AxesImage at 0x7f6b254c3940>

In the above code, faces is a numpy array of detected faces, where each row corresponds to a detected face. Each detected face is a 1D array with four entries that specifies the bounding box of the detected face. The first two entries in the array (extracted in the above code as x and y) specify the horizontal and vertical positions of the top left corner of the bounding box. The last two entries in the array (extracted here as w and h) specify the width and height of the box.


Step 1: Add Eye Detections

There are other pre-trained detectors available that use a Haar Cascade Classifier - including full human body detectors, license plate detectors, and more. A full list of the pre-trained architectures can be found here.

To test your eye detector, we'll first read in a new test image with just a single face.

In [4]:
# Load in color image for face detection
image = cv2.imread('images/james.jpg')

# Convert the image to RGB colorspace
image = cv2.cvtColor(image, cv2.COLOR_BGR2RGB)

# Plot the RGB image
fig = plt.figure(figsize = (6,6))
ax1 = fig.add_subplot(111)
ax1.set_xticks([])
ax1.set_yticks([])

ax1.set_title('Original Image')
ax1.imshow(image)
Out[4]:
<matplotlib.image.AxesImage at 0x7f6b25458f28>

Notice that even though the image is a black and white image, we have read it in as a color image and so it will still need to be converted to grayscale in order to perform the most accurate face detection.

So, the next steps will be to convert this image to grayscale, then load OpenCV's face detector and run it with parameters that detect this face accurately.

In [5]:
# Convert the RGB  image to grayscale
gray = cv2.cvtColor(image, cv2.COLOR_RGB2GRAY)

# Extract the pre-trained face detector from an xml file
face_cascade = cv2.CascadeClassifier('detector_architectures/haarcascade_frontalface_default.xml')

# Detect the faces in image
faces = face_cascade.detectMultiScale(gray, 1.25, 6)

# Print the number of faces detected in the image
print('Number of faces detected:', len(faces))

# Make a copy of the orginal image to draw face detections on
image_with_detections = np.copy(image)

# Get the bounding box for each detected face
for (x,y,w,h) in faces:
    # Add a red bounding box to the detections image
    cv2.rectangle(image_with_detections, (x,y), (x+w,y+h), (255,0,0), 3)
    

# Display the image with the detections
fig = plt.figure(figsize = (6,6))
ax1 = fig.add_subplot(111)
ax1.set_xticks([])
ax1.set_yticks([])

ax1.set_title('Image with Face Detection')
ax1.imshow(image_with_detections)
Number of faces detected: 1
Out[5]:
<matplotlib.image.AxesImage at 0x7f6b253b57f0>

(IMPLEMENTATION) Add an eye detector to the current face detection setup.

A Haar-cascade eye detector can be included in the same way that the face detector was and, in this first task, it will be your job to do just this.

To set up an eye detector, use the stored parameters of the eye cascade detector, called haarcascade_eye.xml, located in the detector_architectures subdirectory. In the next code cell, create your eye detector and store its detections.

A few notes before you get started:

First, make sure to give your loaded eye detector the variable name

eye_cascade

and give the list of eye regions you detect the variable name

eyes

Second, since we've already run the face detector over this image, you should only search for eyes within the rectangular face regions detected in faces. This will minimize false detections.

Lastly, once you've run your eye detector over the facial detection region, you should display the RGB image with both the face detection boxes (in red) and your eye detections (in green) to verify that everything works as expected.

In [6]:
# Make a copy of the original image to plot rectangle detections
image_with_detections = np.copy(image)   

# Loop over the detections and draw their corresponding face detection boxes
for (x,y,w,h) in faces:
    cv2.rectangle(image_with_detections, (x,y), (x+w,y+h),(255,0,0), 3)  
    
# Do not change the code above this comment!

    
## TODO: Add eye detection, using haarcascade_eye.xml, to the current face detector algorithm
# Extract the pre-trained face detector from an xml file
eye_cascade = cv2.CascadeClassifier('detector_architectures/haarcascade_eye.xml')

# Detect the faces in image
eyes = eye_cascade.detectMultiScale(gray)

# Print the number of faces detected in the image
print('Number of eyes detected:', len(eyes))

## TODO: Loop over the eye detections and draw their corresponding boxes in green on image_with_detections
for (x,y,w,h) in eyes:
    cv2.rectangle(image_with_detections, (x,y), (x+w,y+h),(0,255,0), 3) 

# Plot the image with both faces and eyes detected
fig = plt.figure(figsize = (6,6))
ax1 = fig.add_subplot(111)
ax1.set_xticks([])
ax1.set_yticks([])

ax1.set_title('Image with Face and Eye Detection')
ax1.imshow(image_with_detections)
Number of eyes detected: 2
Out[6]:
<matplotlib.image.AxesImage at 0x7f6b25392a90>

(Optional) Add face and eye detection to your laptop camera

It's time to kick it up a notch, and add face and eye detection to your laptop's camera! Afterwards, you'll be able to show off your creation like in the gif shown below - made with a completed version of the code!

Notice that not all of the detections here are perfect - and your result need not be perfect either. You should spend a small amount of time tuning the parameters of your detectors to get reasonable results, but don't hold out for perfection. If we wanted perfection we'd need to spend a ton of time tuning the parameters of each detector, cleaning up the input image frames, etc. You can think of this as more of a rapid prototype.

The next cell contains code for a wrapper function called laptop_camera_face_eye_detector that, when called, will activate your laptop's camera. You will place the relevant face and eye detection code in this wrapper function to implement face/eye detection and mark those detections on each image frame that your camera captures.

Before adding anything to the function, you can run it to get an idea of how it works - a small window should pop up showing you the live feed from your camera; you can press any key to close this window.

Note: Mac users may find that activating this function kills the kernel of their notebook every once in a while. If this happens to you, just restart your notebook's kernel, activate cell(s) containing any crucial import statements, and you'll be good to go!

In [7]:
### Add face and eye detection to this laptop camera function 
# Make sure to draw out all faces/eyes found in each frame on the shown video feed

import cv2
import time 

# wrapper function for face/eye detection with your laptop camera
def laptop_camera_go():
    # Create instance of video capturer
    cv2.namedWindow("face detection activated")
    vc = cv2.VideoCapture(0)

    # Try to get the first frame
    if vc.isOpened(): 
        rval, frame = vc.read()
    else:
        rval = False
    
    # Keep the video stream open
    while rval:
        # Convert the RGB  image to grayscale
        gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)

        # Detect the faces in image
        faces = face_cascade.detectMultiScale(gray, 1.25, 6)
        
        # Get the bounding box for each detected face
        for (x,y,w,h) in faces:
            # Add a red bounding box to the detections image (B, G, R)
            cv2.rectangle(frame, (x,y), (x+w,y+h), (0,0,255), 2)
        
        # Detect the faces in image
        eyes = eye_cascade.detectMultiScale(gray)

        ## TODO: Loop over the eye detections and draw their corresponding boxes in green on image_with_detections
        for (x,y,w,h) in eyes:
            cv2.rectangle(frame, (x,y), (x+w,y+h),(0,255,0), 2) 
    
        
        # Plot the image from camera with all the face and eye detections marked
        cv2.imshow("face detection activated", frame)
        
        # Exit functionality - press any key to exit laptop video
        key = cv2.waitKey(20)
        if key > 0: # Exit by pressing any key
            # Destroy windows 
            cv2.destroyAllWindows()
            
            # Make sure window closes on OSx
            for i in range (1,5):
                cv2.waitKey(1)
            return
        
        # Read next frame
        time.sleep(0.05)             # control framerate for computation - default 20 frames per sec
        rval, frame = vc.read()    
In [8]:
# Call the laptop camera face/eye detector function above
laptop_camera_go()

Step 2: De-noise an Image for Better Face Detection

Image quality is an important aspect of any computer vision task. Typically, when creating a set of images to train a deep learning network, significant care is taken to ensure that training images are free of visual noise or artifacts that hinder object detection. While computer vision algorithms - like a face detector - are typically trained on 'nice' data such as this, new test data doesn't always look so nice!

When applying a trained computer vision algorithm to a new piece of test data one often cleans it up first before feeding it in. This sort of cleaning - referred to as pre-processing - can include a number of cleaning phases like blurring, de-noising, color transformations, etc., and many of these tasks can be accomplished using OpenCV.

In this short subsection we explore OpenCV's noise-removal functionality to see how we can clean up a noisy image, which we then feed into our trained face detector.

Create a noisy image to work with

In the next cell, we create an artificial noisy version of the previous multi-face image. This is a little exaggerated - we don't typically get images that are this noisy - but image noise, or 'grainy-ness' in a digitial image - is a fairly common phenomenon.

In [9]:
# Load in the multi-face test image again
image = cv2.imread('images/test_image_1.jpg')

# Convert the image copy to RGB colorspace
image = cv2.cvtColor(image, cv2.COLOR_BGR2RGB)

# Make an array copy of this image
image_with_noise = np.asarray(image)

# Create noise - here we add noise sampled randomly from a Gaussian distribution: a common model for noise
noise_level = 40
noise = np.random.randn(image.shape[0],image.shape[1],image.shape[2])*noise_level

# Add this noise to the array image copy
image_with_noise = image_with_noise + noise

# Convert back to uint8 format
image_with_noise = np.asarray([np.uint8(np.clip(i,0,255)) for i in image_with_noise])

# Plot our noisy image!
fig = plt.figure(figsize = (8,8))
ax1 = fig.add_subplot(111)
ax1.set_xticks([])
ax1.set_yticks([])

ax1.set_title('Noisy Image')
ax1.imshow(image_with_noise)
Out[9]:
<matplotlib.image.AxesImage at 0x7f6b100637b8>

In the context of face detection, the problem with an image like this is that - due to noise - we may miss some faces or get false detections.

In the next cell we apply the same trained OpenCV detector with the same settings as before, to see what sort of detections we get.

In [10]:
# Convert the RGB  image to grayscale
gray_noise = cv2.cvtColor(image_with_noise, cv2.COLOR_RGB2GRAY)

# Extract the pre-trained face detector from an xml file
face_cascade = cv2.CascadeClassifier('detector_architectures/haarcascade_frontalface_default.xml')

# Detect the faces in image
faces = face_cascade.detectMultiScale(gray_noise, 4, 6)

# Print the number of faces detected in the image
print('Number of faces detected:', len(faces))

# Make a copy of the orginal image to draw face detections on
image_with_detections = np.copy(image_with_noise)

# Get the bounding box for each detected face
for (x,y,w,h) in faces:
    # Add a red bounding box to the detections image
    cv2.rectangle(image_with_detections, (x,y), (x+w,y+h), (255,0,0), 3)
    

# Display the image with the detections
fig = plt.figure(figsize = (8,8))
ax1 = fig.add_subplot(111)
ax1.set_xticks([])
ax1.set_yticks([])

ax1.set_title('Noisy Image with Face Detections')
ax1.imshow(image_with_detections)
Number of faces detected: 13
Out[10]:
<matplotlib.image.AxesImage at 0x7f6b1006ea90>

With this added noise we now miss one of the faces!

(IMPLEMENTATION) De-noise this image for better face detection

Time to get your hands dirty: using OpenCV's built in color image de-noising functionality called fastNlMeansDenoisingColored - de-noise this image enough so that all the faces in the image are properly detected. Once you have cleaned the image in the next cell, use the cell that follows to run our trained face detector over the cleaned image to check out its detections.

You can find its official documentation here and a useful example here.

Note: you can keep all parameters except photo_render fixed as shown in the second link above. Play around with the value of this parameter - see how it affects the resulting cleaned image.

In [11]:
## TODO: Use OpenCV's built in color image de-noising function to clean up our noisy image!
denoised_image = cv2.fastNlMeansDenoisingColored(src=image_with_noise, dst=None, 
                                                templateWindowSize=7, 
                                                searchWindowSize=21, 
                                                h=14, 
                                                hColor=2)

fig = plt.figure(figsize = (8, 8))
ax2 = fig.add_subplot(111)
ax2.set_xticks([])
ax2.set_yticks([])
_=ax2.imshow(denoised_image)
In [12]:
## TODO: Run the face detector on the de-noised image to improve your detections and display the result

# Convert the RGB  image to grayscale
gray_denoised = cv2.cvtColor(denoised_image, cv2.COLOR_RGB2GRAY)

# Reinit the face cascade to avoid diffeerences coused by change of internal state
face_cascade = cv2.CascadeClassifier('detector_architectures/haarcascade_frontalface_default.xml')

faces_denoised = face_cascade.detectMultiScale(gray_denoised, scaleFactor=2, minNeighbors=4)

# Print the number of faces detected in the image
print('Number of faces detected:', len(faces_denoised))

denoised_image_copy = np.copy(denoised_image)
for (x, y, w, h) in faces_denoised:
    cv2.rectangle(denoised_image_copy, (x, y), (x+w,y+h), (255, 0, 0), 3)
    
fig = plt.figure(figsize = (8, 8))
ax2 = fig.add_subplot(111)
ax2.set_xticks([])
ax2.set_yticks([])
_=ax2.imshow(denoised_image_copy)
Number of faces detected: 13

Step 3: Blur an Image and Perform Edge Detection

Now that we have developed a simple pipeline for detecting faces using OpenCV - let's start playing around with a few fun things we can do with all those detected faces!

Importance of Blur in Edge Detection

Edge detection is a concept that pops up almost everywhere in computer vision applications, as edge-based features (as well as features built on top of edges) are often some of the best features for e.g., object detection and recognition problems.

Edge detection is a dimension reduction technique - by keeping only the edges of an image we get to throw away a lot of non-discriminating information. And typically the most useful kind of edge-detection is one that preserves only the important, global structures (ignoring local structures that aren't very discriminative). So removing local structures / retaining global structures is a crucial pre-processing step to performing edge detection in an image, and blurring can do just that.

Below is an animated gif showing the result of an edge-detected cat taken from Wikipedia, where the image is gradually blurred more and more prior to edge detection. When the animation begins you can't quite make out what it's a picture of, but as the animation evolves and local structures are removed via blurring the cat becomes visible in the edge-detected image.

Edge detection is a convolution performed on the image itself, and you can read about Canny edge detection on this OpenCV documentation page.

Canny edge detection

In the cell below we load in a test image, then apply Canny edge detection on it. The original image is shown on the left panel of the figure, while the edge-detected version of the image is shown on the right. Notice how the result looks very busy - there are too many little details preserved in the image before it is sent to the edge detector. When applied in computer vision applications, edge detection should preserve global structure; doing away with local structures that don't help describe what objects are in the image.

In [13]:
# Load in the image
image = cv2.imread('images/fawzia.jpg')

# Convert to RGB colorspace
image = cv2.cvtColor(image, cv2.COLOR_BGR2RGB)

# Convert to grayscale
gray = cv2.cvtColor(image, cv2.COLOR_RGB2GRAY)  

# Perform Canny edge detection
edges = cv2.Canny(gray,100,200)

# Dilate the image to amplify edges
edges = cv2.dilate(edges, None)

# Plot the RGB and edge-detected image
fig = plt.figure(figsize = (15,15))
ax1 = fig.add_subplot(121)
ax1.set_xticks([])
ax1.set_yticks([])

ax1.set_title('Original Image')
ax1.imshow(image)

ax2 = fig.add_subplot(122)
ax2.set_xticks([])
ax2.set_yticks([])

ax2.set_title('Canny Edges')
ax2.imshow(edges, cmap='gray')
Out[13]:
<matplotlib.image.AxesImage at 0x7f6b00112cc0>

Without first blurring the image, and removing small, local structures, a lot of irrelevant edge content gets picked up and amplified by the detector (as shown in the right panel above).

(IMPLEMENTATION) Blur the image then perform edge detection

In the next cell, you will repeat this experiment - blurring the image first to remove these local structures, so that only the important boudnary details remain in the edge-detected image.

Blur the image by using OpenCV's filter2d functionality - which is discussed in this documentation page - and use an averaging kernel of width equal to 4.

In [14]:
### TODO: Blur the test imageusing OpenCV's filter2d functionality, 
# Use an averaging kernel, and a kernel width equal to 4

kernel = np.ones((4,4),np.float32)/16
filtered_image = cv2.filter2D(image, -1, kernel)

# Plot the RGB and blurred image
fig = plt.figure(figsize = (15,15))
ax1 = fig.add_subplot(121)
ax1.set_xticks([])
ax1.set_yticks([])

ax1.set_title('Original Image')
ax1.imshow(image)

ax2 = fig.add_subplot(122)
ax2.set_xticks([])
ax2.set_yticks([])

ax2.set_title('Blurred with Averaging Kernel')
ax2.imshow(filtered_image, cmap='gray')
Out[14]:
<matplotlib.image.AxesImage at 0x7f6b0006d4a8>
In [15]:
## TODO: Then perform Canny edge detection and display the output
blurred_gray = cv2.cvtColor(filtered_image, cv2.COLOR_RGB2GRAY)
blurred_edges = cv2.Canny(blurred_gray, 100, 200)
blurred_edges = cv2.dilate(blurred_edges, None)

# Plot the RGB and edge image
fig = plt.figure(figsize = (15,15))
ax1 = fig.add_subplot(121)
ax1.set_xticks([])
ax1.set_yticks([])

ax1.set_title('Original Image')
ax1.imshow(image)

ax2 = fig.add_subplot(122)
ax2.set_xticks([])
ax2.set_yticks([])

ax2.set_title('Edges')
ax2.imshow(blurred_edges, cmap='gray')
Out[15]:
<matplotlib.image.AxesImage at 0x7f6ae82039e8>

Step 4: Automatically Hide the Identity of an Individual

If you film something like a documentary or reality TV, you must get permission from every individual shown on film before you can show their face, otherwise you need to blur it out - by blurring the face a lot (so much so that even the global structures are obscured)! This is also true for projects like Google's StreetView maps - an enormous collection of mapping images taken from a fleet of Google vehicles. Because it would be impossible for Google to get the permission of every single person accidentally captured in one of these images they blur out everyone's faces, the detected images must automatically blur the identity of detected people. Here's a few examples of folks caught in the camera of a Google street view vehicle.

Read in an image to perform identity detection

Let's try this out for ourselves. Use the face detection pipeline built above and what you know about using the filter2D to blur and image, and use these in tandem to hide the identity of the person in the following image - loaded in and printed in the next cell.

In [16]:
# Load in the image
image = cv2.imread('images/gus.jpg')

# Convert the image to RGB colorspace
image = cv2.cvtColor(image, cv2.COLOR_BGR2RGB)

# Display the image
fig = plt.figure(figsize = (6,6))
ax1 = fig.add_subplot(111)
ax1.set_xticks([])
ax1.set_yticks([])
ax1.set_title('Original Image')
ax1.imshow(image)
Out[16]:
<matplotlib.image.AxesImage at 0x7fa181e185c0>

(IMPLEMENTATION) Use blurring to hide the identity of an individual in an image

The idea here is to 1) automatically detect the face in this image, and then 2) blur it out! Make sure to adjust the parameters of the averaging blur filter to completely obscure this person's identity.

In [17]:
def plot_image(img1, img2):

    fig = plt.figure(figsize = (15,15))
    ax1 = fig.add_subplot(121)
    ax1.set_xticks([])
    ax1.set_yticks([])

    ax1.set_title('Original Image')
    ax1.imshow(img1)

    ax2 = fig.add_subplot(122)
    ax2.set_xticks([])
    ax2.set_yticks([])

    ax2.set_title('Processed Image')
    ax2.imshow(img2)
In [18]:
## TODO: Implement face detection
face_cascade = cv2.CascadeClassifier('detector_architectures/haarcascade_frontalface_default.xml')

gray = cv2.cvtColor(image, cv2.COLOR_RGB2GRAY)

faces = face_cascade.detectMultiScale(gray, scaleFactor=2, minNeighbors=5)
In [19]:
## TODO: Blur the bounding box around each detected face using an averaging filter and display the result
kernel = np.ones((15, 15), np.float32)/225
for (x,y,w,h) in faces:
    face = image[y:y+h, x:x+w]
    face_blur = cv2.GaussianBlur(face, (87, 87), 155)
    
    plot_image(face, face_blur)
    
    image_blur = image.copy()
    image_blur[y:y+h, x:x+w] = face_blur
    
    plot_image(image, image_blur)

(Optional) Build identity protection into your laptop camera

In this optional task you can add identity protection to your laptop camera, using the previously completed code where you added face detection to your laptop camera - and the task above. You should be able to get reasonable results with little parameter tuning - like the one shown in the gif below.

As with the previous video task, to make this perfect would require significant effort - so don't strive for perfection here, strive for reasonable quality.

The next cell contains code a wrapper function called laptop_camera_identity_hider that - when called - will activate your laptop's camera. You need to place the relevant face detection and blurring code developed above in this function in order to blur faces entering your laptop camera's field of view.

Before adding anything to the function you can call it to get a hang of how it works - a small window will pop up showing you the live feed from your camera, you can press any key to close this window.

Note: Mac users may find that activating this function kills the kernel of their notebook every once in a while. If this happens to you, just restart your notebook's kernel, activate cell(s) containing any crucial import statements, and you'll be good to go!

In [20]:
### Insert face detection and blurring code into the wrapper below to create an identity protector on your laptop!
import cv2
import time 

def laptop_camera_go():
    face_cascade = cv2.CascadeClassifier('detector_architectures/haarcascade_frontalface_default.xml')

    # Create instance of video capturer
    cv2.namedWindow("face detection activated")
    vc = cv2.VideoCapture(0)

    # Try to get the first frame
    if vc.isOpened(): 
        rval, frame = vc.read()
    else:
        rval = False
    
    # Keep video stream open
    while rval:
        gray = cv2.cvtColor(frame, cv2.COLOR_BGR2GRAY)
        faces = face_cascade.detectMultiScale(gray, scaleFactor=2, minNeighbors=5)        
        for (x,y,w,h) in faces:
            face = frame[y:y+h, x:x+w]
            frame[y:y+h, x:x+w] = cv2.GaussianBlur(face, (53, 53), 115)
    
        # Plot image from camera with detections marked
        # (don't show the frame if the detector failed to detect the user face)
        if len(faces) > 0:
            cv2.imshow("face detection activated", frame)
        
        # Exit functionality - press any key to exit laptop video
        key = cv2.waitKey(20)
        if key > 0: # Exit by pressing any key
            # Destroy windows
            cv2.destroyAllWindows()
            
            for i in range (1,5):
                cv2.waitKey(1)
            return
        
        # Read next frame
        time.sleep(0.05)             # control framerate for computation - default 20 frames per sec
        rval, frame = vc.read()    
        
In [21]:
# Run laptop identity hider
laptop_camera_go()

Step 5: Create a CNN to Recognize Facial Keypoints

OpenCV is often used in practice with other machine learning and deep learning libraries to produce interesting results. In this stage of the project you will create your own end-to-end pipeline - employing convolutional networks in keras along with OpenCV - to apply a "selfie" filter to streaming video and images.

You will start by creating and then training a convolutional network that can detect facial keypoints in a small dataset of cropped images of human faces. We then guide you towards OpenCV to expanding your detection algorithm to more general images. What are facial keypoints? Let's take a look at some examples.

Facial keypoints (also called facial landmarks) are the small blue-green dots shown on each of the faces in the image above - there are 15 keypoints marked in each image. They mark important areas of the face - the eyes, corners of the mouth, the nose, etc. Facial keypoints can be used in a variety of machine learning applications from face and emotion recognition to commercial applications like the image filters popularized by Snapchat.

Below we illustrate a filter that, using the results of this section, automatically places sunglasses on people in images (using the facial keypoints to place the glasses correctly on each face). Here, the facial keypoints have been colored lime green for visualization purposes.

Make a facial keypoint detector

But first things first: how can we make a facial keypoint detector? Well, at a high level, notice that facial keypoint detection is a regression problem. A single face corresponds to a set of 15 facial keypoints (a set of 15 corresponding $(x, y)$ coordinates, i.e., an output point). Because our input data are images, we can employ a convolutional neural network to recognize patterns in our images and learn how to identify these keypoint given sets of labeled data.

In order to train a regressor, we need a training set - a set of facial image / facial keypoint pairs to train on. For this we will be using this dataset from Kaggle. We've already downloaded this data and placed it in the data directory. Make sure that you have both the training and test data files. The training dataset contains several thousand $96 \times 96$ grayscale images of cropped human faces, along with each face's 15 corresponding facial keypoints (also called landmarks) that have been placed by hand, and recorded in $(x, y)$ coordinates. This wonderful resource also has a substantial testing set, which we will use in tinkering with our convolutional network.

To load in this data, run the Python cell below - notice we will load in both the training and testing sets.

The load_data function is in the included utils.py file.

In [18]:
np.__version__
Out[18]:
'1.13.3'
In [19]:
from utils import *

# Load training set
X_train, y_train = load_data()
print("X_train.shape == {}".format(X_train.shape))
print("y_train.shape == {}; y_train.min == {:.3f}; y_train.max == {:.3f}".format(
    y_train.shape, y_train.min(), y_train.max()))

# Load testing set
X_test, _ = load_data(test=True)
print("X_test.shape == {}".format(X_test.shape))
Using TensorFlow backend.
X_train.shape == (2140, 96, 96, 1)
y_train.shape == (2140, 30); y_train.min == -0.920; y_train.max == 0.996
X_test.shape == (1783, 96, 96, 1)

The load_data function in utils.py originates from this excellent blog post, which you are strongly encouraged to read. Please take the time now to review this function. Note how the output values - that is, the coordinates of each set of facial landmarks - have been normalized to take on values in the range $[-1, 1]$, while the pixel values of each input point (a facial image) have been normalized to the range $[0,1]$.

Note: the original Kaggle dataset contains some images with several missing keypoints. For simplicity, the load_data function removes those images with missing labels from the dataset. As an optional extension, you are welcome to amend the load_data function to include the incomplete data points.

Visualize the Training Data

Execute the code cell below to visualize a subset of the training data.

In [20]:
import matplotlib.pyplot as plt
%matplotlib inline

fig = plt.figure(figsize=(20,20))
fig.subplots_adjust(left=0, right=1, bottom=0, top=1, hspace=0.05, wspace=0.05)
for i in range(9):
    ax = fig.add_subplot(3, 3, i + 1, xticks=[], yticks=[])
    plot_data(X_train[i], y_train[i], ax)

For each training image, there are two landmarks per eyebrow (four total), three per eye (six total), four for the mouth, and one for the tip of the nose.

Review the plot_data function in utils.py to understand how the 30-dimensional training labels in y_train are mapped to facial locations, as this function will prove useful for your pipeline.

(IMPLEMENTATION) Specify the CNN Architecture

In this section, you will specify a neural network for predicting the locations of facial keypoints. Use the code cell below to specify the architecture of your neural network. We have imported some layers that you may find useful for this task, but if you need to use more Keras layers, feel free to import them in the cell.

Your network should accept a $96 \times 96$ grayscale image as input, and it should output a vector with 30 entries, corresponding to the predicted (horizontal and vertical) locations of 15 facial keypoints. If you are not sure where to start, you can find some useful starting architectures in this blog, but you are not permitted to copy any of the architectures that you find online.

In [21]:
# Import deep learning resources from Keras
from keras.models import Sequential
from keras.layers import Convolution2D, MaxPooling2D, Dropout, Activation
from keras.layers import Flatten, Dense
from keras.layers.normalization import BatchNormalization


## TODO: Specify a CNN architecture
# Your model should accept 96x96 pixel graysale images in
# It should have a fully-connected output layer with 30 values (2 for each facial keypoint)

model = Sequential()

# Conv layer 1
model.add(Convolution2D(filters=16, kernel_size=(3, 3), strides=(1, 1), padding='same',
                          input_shape=(96, 96, 1)))
model.add(Activation('relu'))
# model.add(BatchNormalization())
model.add(MaxPooling2D(pool_size=(2, 2)))
# ?model.add(Dropout(0.1))

# Conv layer 2
model.add(Convolution2D(filters=32, kernel_size=(3, 3), strides=(1, 1), padding='same'))
model.add(Activation('relu'))
model.add(MaxPooling2D(pool_size=(2, 2)))
# model.add(Dropout(0.2))

# Conv layer 3
model.add(Convolution2D(filters=64, kernel_size=(3, 3), strides=(1, 1), padding='same'))
model.add(Activation('relu'))
model.add(MaxPooling2D(pool_size=(2, 2)))
# model.add(Dropout(0.3))

# Conv layer 4
# model.add(Convolution2D(filters=128, kernel_size=(3, 3), strides=(1, 1), padding='same'))
# model.add(Activation('relu'))
# model.add(MaxPooling2D(pool_size=(2, 2)))

model.add(Flatten())
model.add(Dense(units=30))


# Summarize the model
model.summary()
_________________________________________________________________
Layer (type)                 Output Shape              Param #   
=================================================================
conv2d_1 (Conv2D)            (None, 96, 96, 16)        160       
_________________________________________________________________
activation_1 (Activation)    (None, 96, 96, 16)        0         
_________________________________________________________________
max_pooling2d_1 (MaxPooling2 (None, 48, 48, 16)        0         
_________________________________________________________________
conv2d_2 (Conv2D)            (None, 48, 48, 32)        4640      
_________________________________________________________________
activation_2 (Activation)    (None, 48, 48, 32)        0         
_________________________________________________________________
max_pooling2d_2 (MaxPooling2 (None, 24, 24, 32)        0         
_________________________________________________________________
conv2d_3 (Conv2D)            (None, 24, 24, 64)        18496     
_________________________________________________________________
activation_3 (Activation)    (None, 24, 24, 64)        0         
_________________________________________________________________
max_pooling2d_3 (MaxPooling2 (None, 12, 12, 64)        0         
_________________________________________________________________
flatten_1 (Flatten)          (None, 9216)              0         
_________________________________________________________________
dense_1 (Dense)              (None, 30)                276510    
=================================================================
Total params: 299,806
Trainable params: 299,806
Non-trainable params: 0
_________________________________________________________________

Step 6: Compile and Train the Model

After specifying your architecture, you'll need to compile and train the model to detect facial keypoints'

(IMPLEMENTATION) Compile and Train the Model

Use the compile method to configure the learning process. Experiment with your choice of optimizer; you may have some ideas about which will work best (SGD vs. RMSprop, etc), but take the time to empirically verify your theories.

Use the fit method to train the model. Break off a validation set by setting validation_split=0.2. Save the returned History object in the history variable.

Your model is required to attain a validation loss (measured as mean squared error) of at least XYZ. When you have finished training, save your model as an HDF5 file with file path my_model.h5.

In [22]:
# Parameters
model_name = 'model3_sgd'
validation_split = 0.2
nb_epochs = 200
lr_start, lr_end = 0.04, 0.001
batch_size = 16
momentum = 0.9
nesterov = True
In [23]:
# reset model weights
model.reset_states()
!rm {model_name+'.best.hdf5'}
In [24]:
# split training / validation
val_size = int(X_train.shape[0] * validation_split)
X_train, X_val = X_train[val_size:], X_train[:val_size]
y_train, y_val = y_train[val_size:], y_train[:val_size]
print("X_val.shape == {}".format(X_val.shape))
X_val.shape == (428, 96, 96, 1)
In [29]:
from keras.optimizers import SGD, RMSprop, Adagrad, Adadelta, Adam, Adamax, Nadam
from datetime import datetime
import time
from image_generator import FlippedImageDataGenerator
from keras.callbacks import ModelCheckpoint, LearningRateScheduler

sgd = SGD(lr=0.01, momentum=momentum, nesterov=nesterov)
adam = Adam(lr=0.01)
rmsprop = RMSprop(lr=0.01)

# The model is saved in this callback
checkpointer = ModelCheckpoint(filepath=model_name+'.best.hdf5',
                               monitor='val_loss', verbose=0, 
                               save_best_only=True)

learning_rates = np.linspace(lr_start, lr_end, nb_epochs)
lr_scheduler = LearningRateScheduler(lambda epoch: float(learning_rates[epoch]))

flip_gen = FlippedImageDataGenerator()

## TODO: Compile the model
model.compile(loss='mean_squared_error', optimizer=sgd)
In [30]:
## TODO: Train the model

start_time = time.time()
print('start_time: %s' % (datetime.now()))

hist = model.fit_generator(flip_gen.flow(X_train, y_train),
                           samples_per_epoch=X_train.shape[0],
                           epochs=nb_epochs,
                           validation_data=(X_val, y_val),
                           callbacks=[checkpointer, lr_scheduler])

print('end_time: %s, duracion(min): %d' % (datetime.now(), int(time.time()-start_time) / 60))
start_time: 2017-10-03 22:43:11.308522
Epoch 1/200
/home/adrian/anaconda3/envs/aind-cv/lib/python3.5/site-packages/ipykernel_launcher.py:10: UserWarning: Update your `fit_generator` call to the Keras 2 API: `fit_generator(<keras.pre..., epochs=200, steps_per_epoch=53, callbacks=[<keras.ca..., validation_data=(array([[[...)`
  # Remove the CWD from sys.path while we load stuff.
53/53 [==============================] - 6s - loss: 0.0138 - val_loss: 0.0044
Epoch 2/200
53/53 [==============================] - 6s - loss: 0.0046 - val_loss: 0.0042
Epoch 3/200
53/53 [==============================] - 6s - loss: 0.0045 - val_loss: 0.0042
Epoch 4/200
53/53 [==============================] - 6s - loss: 0.0045 - val_loss: 0.0042
Epoch 5/200
53/53 [==============================] - 6s - loss: 0.0045 - val_loss: 0.0041
Epoch 6/200
53/53 [==============================] - 6s - loss: 0.0043 - val_loss: 0.0041
Epoch 7/200
53/53 [==============================] - 6s - loss: 0.0044 - val_loss: 0.0041
Epoch 8/200
53/53 [==============================] - 6s - loss: 0.0044 - val_loss: 0.0041
Epoch 9/200
53/53 [==============================] - 6s - loss: 0.0043 - val_loss: 0.0040
Epoch 10/200
53/53 [==============================] - 6s - loss: 0.0042 - val_loss: 0.0040
Epoch 11/200
53/53 [==============================] - 6s - loss: 0.0041 - val_loss: 0.0039
Epoch 12/200
53/53 [==============================] - 6s - loss: 0.0042 - val_loss: 0.0039
Epoch 13/200
53/53 [==============================] - 6s - loss: 0.0040 - val_loss: 0.0038
Epoch 14/200
53/53 [==============================] - 6s - loss: 0.0040 - val_loss: 0.0038
Epoch 15/200
53/53 [==============================] - 6s - loss: 0.0041 - val_loss: 0.0037
Epoch 16/200
53/53 [==============================] - 6s - loss: 0.0038 - val_loss: 0.0036
Epoch 17/200
53/53 [==============================] - 6s - loss: 0.0038 - val_loss: 0.0036
Epoch 18/200
53/53 [==============================] - 6s - loss: 0.0037 - val_loss: 0.0036
Epoch 19/200
53/53 [==============================] - 6s - loss: 0.0035 - val_loss: 0.0035
Epoch 20/200
53/53 [==============================] - 6s - loss: 0.0037 - val_loss: 0.0034
Epoch 21/200
53/53 [==============================] - 6s - loss: 0.0036 - val_loss: 0.0034
Epoch 22/200
53/53 [==============================] - 6s - loss: 0.0034 - val_loss: 0.0033
Epoch 23/200
53/53 [==============================] - 6s - loss: 0.0034 - val_loss: 0.0032
Epoch 24/200
53/53 [==============================] - 6s - loss: 0.0032 - val_loss: 0.0031
Epoch 25/200
53/53 [==============================] - 6s - loss: 0.0030 - val_loss: 0.0031
Epoch 26/200
53/53 [==============================] - 6s - loss: 0.0031 - val_loss: 0.0030
Epoch 27/200
53/53 [==============================] - 6s - loss: 0.0029 - val_loss: 0.0029
Epoch 28/200
53/53 [==============================] - 6s - loss: 0.0028 - val_loss: 0.0028
Epoch 29/200
53/53 [==============================] - 6s - loss: 0.0028 - val_loss: 0.0028
Epoch 30/200
53/53 [==============================] - 6s - loss: 0.0027 - val_loss: 0.0027
Epoch 31/200
53/53 [==============================] - 6s - loss: 0.0026 - val_loss: 0.0027
Epoch 32/200
53/53 [==============================] - 6s - loss: 0.0025 - val_loss: 0.0026
Epoch 33/200
53/53 [==============================] - 6s - loss: 0.0025 - val_loss: 0.0025
Epoch 34/200
53/53 [==============================] - 6s - loss: 0.0024 - val_loss: 0.0025
Epoch 35/200
53/53 [==============================] - 6s - loss: 0.0023 - val_loss: 0.0024
Epoch 36/200
53/53 [==============================] - 6s - loss: 0.0023 - val_loss: 0.0024
Epoch 37/200
53/53 [==============================] - 6s - loss: 0.0022 - val_loss: 0.0023
Epoch 38/200
53/53 [==============================] - 6s - loss: 0.0022 - val_loss: 0.0023
Epoch 39/200
53/53 [==============================] - 6s - loss: 0.0021 - val_loss: 0.0023
Epoch 40/200
53/53 [==============================] - 6s - loss: 0.0021 - val_loss: 0.0022
Epoch 41/200
53/53 [==============================] - 6s - loss: 0.0021 - val_loss: 0.0022
Epoch 42/200
53/53 [==============================] - 6s - loss: 0.0020 - val_loss: 0.0022
Epoch 43/200
53/53 [==============================] - 6s - loss: 0.0020 - val_loss: 0.0021
Epoch 44/200
53/53 [==============================] - 6s - loss: 0.0020 - val_loss: 0.0021
Epoch 45/200
53/53 [==============================] - 6s - loss: 0.0019 - val_loss: 0.0021
Epoch 46/200
53/53 [==============================] - 6s - loss: 0.0019 - val_loss: 0.0021
Epoch 47/200
53/53 [==============================] - 6s - loss: 0.0019 - val_loss: 0.0021
Epoch 48/200
53/53 [==============================] - 6s - loss: 0.0018 - val_loss: 0.0020
Epoch 49/200
53/53 [==============================] - 6s - loss: 0.0018 - val_loss: 0.0020
Epoch 50/200
53/53 [==============================] - 6s - loss: 0.0019 - val_loss: 0.0020
Epoch 51/200
53/53 [==============================] - 6s - loss: 0.0018 - val_loss: 0.0020
Epoch 52/200
53/53 [==============================] - 6s - loss: 0.0018 - val_loss: 0.0020
Epoch 53/200
53/53 [==============================] - 6s - loss: 0.0018 - val_loss: 0.0020
Epoch 54/200
53/53 [==============================] - 6s - loss: 0.0018 - val_loss: 0.0020
Epoch 55/200
53/53 [==============================] - 6s - loss: 0.0017 - val_loss: 0.0019
Epoch 56/200
53/53 [==============================] - 6s - loss: 0.0017 - val_loss: 0.0019
Epoch 57/200
53/53 [==============================] - 6s - loss: 0.0017 - val_loss: 0.0019
Epoch 58/200
53/53 [==============================] - 6s - loss: 0.0017 - val_loss: 0.0019
Epoch 59/200
53/53 [==============================] - 6s - loss: 0.0017 - val_loss: 0.0019
Epoch 60/200
53/53 [==============================] - 6s - loss: 0.0017 - val_loss: 0.0019
Epoch 61/200
53/53 [==============================] - 6s - loss: 0.0016 - val_loss: 0.0019
Epoch 62/200
53/53 [==============================] - 6s - loss: 0.0017 - val_loss: 0.0019
Epoch 63/200
53/53 [==============================] - 6s - loss: 0.0017 - val_loss: 0.0018
Epoch 64/200
53/53 [==============================] - 6s - loss: 0.0016 - val_loss: 0.0019
Epoch 65/200
53/53 [==============================] - 6s - loss: 0.0016 - val_loss: 0.0019
Epoch 66/200
53/53 [==============================] - 6s - loss: 0.0016 - val_loss: 0.0018
Epoch 67/200
53/53 [==============================] - 6s - loss: 0.0015 - val_loss: 0.0018
Epoch 68/200
53/53 [==============================] - 6s - loss: 0.0017 - val_loss: 0.0018
Epoch 69/200
53/53 [==============================] - 6s - loss: 0.0016 - val_loss: 0.0018
Epoch 70/200
53/53 [==============================] - 6s - loss: 0.0015 - val_loss: 0.0018
Epoch 71/200
53/53 [==============================] - 6s - loss: 0.0016 - val_loss: 0.0018
Epoch 72/200
53/53 [==============================] - 6s - loss: 0.0015 - val_loss: 0.0018
Epoch 73/200
53/53 [==============================] - 6s - loss: 0.0015 - val_loss: 0.0018
Epoch 74/200
53/53 [==============================] - 6s - loss: 0.0016 - val_loss: 0.0018
Epoch 75/200
53/53 [==============================] - 6s - loss: 0.0015 - val_loss: 0.0018
Epoch 76/200
53/53 [==============================] - 6s - loss: 0.0014 - val_loss: 0.0017
Epoch 77/200
53/53 [==============================] - 6s - loss: 0.0016 - val_loss: 0.0018
Epoch 78/200
53/53 [==============================] - 6s - loss: 0.0014 - val_loss: 0.0017
Epoch 79/200
53/53 [==============================] - 6s - loss: 0.0015 - val_loss: 0.0017
Epoch 80/200
53/53 [==============================] - 6s - loss: 0.0015 - val_loss: 0.0017
Epoch 81/200
53/53 [==============================] - 6s - loss: 0.0014 - val_loss: 0.0017
Epoch 82/200
53/53 [==============================] - 6s - loss: 0.0015 - val_loss: 0.0017
Epoch 83/200
53/53 [==============================] - 6s - loss: 0.0014 - val_loss: 0.0017
Epoch 84/200
53/53 [==============================] - 6s - loss: 0.0015 - val_loss: 0.0017
Epoch 85/200
53/53 [==============================] - 6s - loss: 0.0015 - val_loss: 0.0017
Epoch 86/200
53/53 [==============================] - 6s - loss: 0.0015 - val_loss: 0.0017
Epoch 87/200
53/53 [==============================] - 6s - loss: 0.0014 - val_loss: 0.0017
Epoch 88/200
53/53 [==============================] - 6s - loss: 0.0015 - val_loss: 0.0017
Epoch 89/200
53/53 [==============================] - 6s - loss: 0.0014 - val_loss: 0.0017
Epoch 90/200
53/53 [==============================] - 6s - loss: 0.0015 - val_loss: 0.0017
Epoch 91/200
53/53 [==============================] - 6s - loss: 0.0014 - val_loss: 0.0017
Epoch 92/200
53/53 [==============================] - 6s - loss: 0.0014 - val_loss: 0.0017
Epoch 93/200
53/53 [==============================] - 6s - loss: 0.0014 - val_loss: 0.0017
Epoch 94/200
53/53 [==============================] - 6s - loss: 0.0014 - val_loss: 0.0017
Epoch 95/200
53/53 [==============================] - 6s - loss: 0.0014 - val_loss: 0.0017
Epoch 96/200
53/53 [==============================] - 6s - loss: 0.0014 - val_loss: 0.0017
Epoch 97/200
53/53 [==============================] - 6s - loss: 0.0014 - val_loss: 0.0017
Epoch 98/200
53/53 [==============================] - 6s - loss: 0.0014 - val_loss: 0.0017
Epoch 99/200
53/53 [==============================] - 6s - loss: 0.0014 - val_loss: 0.0017
Epoch 100/200
53/53 [==============================] - 6s - loss: 0.0014 - val_loss: 0.0016
Epoch 101/200
53/53 [==============================] - 6s - loss: 0.0014 - val_loss: 0.0016
Epoch 102/200
53/53 [==============================] - 6s - loss: 0.0014 - val_loss: 0.0016
Epoch 103/200
53/53 [==============================] - 6s - loss: 0.0013 - val_loss: 0.0016
Epoch 104/200
53/53 [==============================] - 6s - loss: 0.0014 - val_loss: 0.0016
Epoch 105/200
53/53 [==============================] - 6s - loss: 0.0014 - val_loss: 0.0016
Epoch 106/200
53/53 [==============================] - 6s - loss: 0.0014 - val_loss: 0.0016
Epoch 107/200
53/53 [==============================] - 6s - loss: 0.0013 - val_loss: 0.0016
Epoch 108/200
53/53 [==============================] - 6s - loss: 0.0013 - val_loss: 0.0016
Epoch 109/200
53/53 [==============================] - 6s - loss: 0.0013 - val_loss: 0.0016
Epoch 110/200
53/53 [==============================] - 6s - loss: 0.0013 - val_loss: 0.0016
Epoch 111/200
53/53 [==============================] - 6s - loss: 0.0014 - val_loss: 0.0016
Epoch 112/200
53/53 [==============================] - 6s - loss: 0.0013 - val_loss: 0.0016
Epoch 113/200
53/53 [==============================] - 6s - loss: 0.0014 - val_loss: 0.0016
Epoch 114/200
53/53 [==============================] - 6s - loss: 0.0013 - val_loss: 0.0016
Epoch 115/200
53/53 [==============================] - 6s - loss: 0.0014 - val_loss: 0.0016
Epoch 116/200
53/53 [==============================] - 6s - loss: 0.0013 - val_loss: 0.0016
Epoch 117/200
53/53 [==============================] - 6s - loss: 0.0013 - val_loss: 0.0016
Epoch 118/200
53/53 [==============================] - 6s - loss: 0.0013 - val_loss: 0.0016
Epoch 119/200
53/53 [==============================] - 6s - loss: 0.0013 - val_loss: 0.0016
Epoch 120/200
53/53 [==============================] - 6s - loss: 0.0013 - val_loss: 0.0016
Epoch 121/200
53/53 [==============================] - 6s - loss: 0.0013 - val_loss: 0.0016
Epoch 122/200
53/53 [==============================] - 6s - loss: 0.0013 - val_loss: 0.0016
Epoch 123/200
53/53 [==============================] - 6s - loss: 0.0013 - val_loss: 0.0016
Epoch 124/200
53/53 [==============================] - 6s - loss: 0.0013 - val_loss: 0.0016
Epoch 125/200
53/53 [==============================] - 6s - loss: 0.0013 - val_loss: 0.0016
Epoch 126/200
53/53 [==============================] - 6s - loss: 0.0013 - val_loss: 0.0016
Epoch 127/200
53/53 [==============================] - 6s - loss: 0.0013 - val_loss: 0.0016
Epoch 128/200
53/53 [==============================] - 6s - loss: 0.0013 - val_loss: 0.0016
Epoch 129/200
53/53 [==============================] - 6s - loss: 0.0013 - val_loss: 0.0016
Epoch 130/200
53/53 [==============================] - 6s - loss: 0.0013 - val_loss: 0.0016
Epoch 131/200
53/53 [==============================] - 6s - loss: 0.0012 - val_loss: 0.0016
Epoch 132/200
53/53 [==============================] - 6s - loss: 0.0014 - val_loss: 0.0016
Epoch 133/200
53/53 [==============================] - 6s - loss: 0.0012 - val_loss: 0.0016
Epoch 134/200
53/53 [==============================] - 6s - loss: 0.0013 - val_loss: 0.0016
Epoch 135/200
53/53 [==============================] - 6s - loss: 0.0012 - val_loss: 0.0016
Epoch 136/200
53/53 [==============================] - 6s - loss: 0.0013 - val_loss: 0.0016
Epoch 137/200
53/53 [==============================] - 6s - loss: 0.0013 - val_loss: 0.0016
Epoch 138/200
53/53 [==============================] - 6s - loss: 0.0012 - val_loss: 0.0016
Epoch 139/200
53/53 [==============================] - 6s - loss: 0.0013 - val_loss: 0.0016
Epoch 140/200
53/53 [==============================] - 6s - loss: 0.0013 - val_loss: 0.0016
Epoch 141/200
53/53 [==============================] - 6s - loss: 0.0012 - val_loss: 0.0016
Epoch 142/200
53/53 [==============================] - 6s - loss: 0.0013 - val_loss: 0.0016
Epoch 143/200
53/53 [==============================] - 6s - loss: 0.0013 - val_loss: 0.0016
Epoch 144/200
53/53 [==============================] - 6s - loss: 0.0012 - val_loss: 0.0016
Epoch 145/200
53/53 [==============================] - 6s - loss: 0.0013 - val_loss: 0.0016
Epoch 146/200
53/53 [==============================] - 6s - loss: 0.0012 - val_loss: 0.0016
Epoch 147/200
53/53 [==============================] - 6s - loss: 0.0012 - val_loss: 0.0016
Epoch 148/200
53/53 [==============================] - 6s - loss: 0.0013 - val_loss: 0.0016
Epoch 149/200
53/53 [==============================] - 6s - loss: 0.0012 - val_loss: 0.0016
Epoch 150/200
53/53 [==============================] - 6s - loss: 0.0013 - val_loss: 0.0016
Epoch 151/200
53/53 [==============================] - 6s - loss: 0.0012 - val_loss: 0.0015
Epoch 152/200
53/53 [==============================] - 6s - loss: 0.0012 - val_loss: 0.0016
Epoch 153/200
53/53 [==============================] - 6s - loss: 0.0012 - val_loss: 0.0016
Epoch 154/200
53/53 [==============================] - 6s - loss: 0.0013 - val_loss: 0.0015
Epoch 155/200
53/53 [==============================] - 6s - loss: 0.0012 - val_loss: 0.0016
Epoch 156/200
53/53 [==============================] - 6s - loss: 0.0012 - val_loss: 0.0015
Epoch 157/200
53/53 [==============================] - 6s - loss: 0.0012 - val_loss: 0.0016
Epoch 158/200
53/53 [==============================] - 6s - loss: 0.0012 - val_loss: 0.0015
Epoch 159/200
53/53 [==============================] - 6s - loss: 0.0012 - val_loss: 0.0015
Epoch 160/200
53/53 [==============================] - 6s - loss: 0.0012 - val_loss: 0.0015
Epoch 161/200
53/53 [==============================] - 6s - loss: 0.0012 - val_loss: 0.0015
Epoch 162/200
53/53 [==============================] - 6s - loss: 0.0012 - val_loss: 0.0015
Epoch 163/200
53/53 [==============================] - 6s - loss: 0.0012 - val_loss: 0.0015
Epoch 164/200
53/53 [==============================] - 6s - loss: 0.0012 - val_loss: 0.0015
Epoch 165/200
53/53 [==============================] - 6s - loss: 0.0012 - val_loss: 0.0015
Epoch 166/200
53/53 [==============================] - 6s - loss: 0.0012 - val_loss: 0.0015
Epoch 167/200
53/53 [==============================] - 6s - loss: 0.0012 - val_loss: 0.0015
Epoch 168/200
53/53 [==============================] - 6s - loss: 0.0012 - val_loss: 0.0015
Epoch 169/200
53/53 [==============================] - 6s - loss: 0.0012 - val_loss: 0.0015
Epoch 170/200
53/53 [==============================] - 6s - loss: 0.0012 - val_loss: 0.0015
Epoch 171/200
53/53 [==============================] - 6s - loss: 0.0012 - val_loss: 0.0015
Epoch 172/200
53/53 [==============================] - 6s - loss: 0.0012 - val_loss: 0.0015
Epoch 173/200
53/53 [==============================] - 6s - loss: 0.0012 - val_loss: 0.0015
Epoch 174/200
53/53 [==============================] - 6s - loss: 0.0013 - val_loss: 0.0015
Epoch 175/200
53/53 [==============================] - 6s - loss: 0.0012 - val_loss: 0.0015
Epoch 176/200
53/53 [==============================] - 6s - loss: 0.0011 - val_loss: 0.0015
Epoch 177/200
53/53 [==============================] - 6s - loss: 0.0013 - val_loss: 0.0015
Epoch 178/200
53/53 [==============================] - 6s - loss: 0.0012 - val_loss: 0.0015
Epoch 179/200
53/53 [==============================] - 6s - loss: 0.0012 - val_loss: 0.0015
Epoch 180/200
53/53 [==============================] - 6s - loss: 0.0012 - val_loss: 0.0015
Epoch 181/200
53/53 [==============================] - 6s - loss: 0.0012 - val_loss: 0.0015
Epoch 182/200
53/53 [==============================] - 6s - loss: 0.0012 - val_loss: 0.0015
Epoch 183/200
53/53 [==============================] - 6s - loss: 0.0012 - val_loss: 0.0015
Epoch 184/200
53/53 [==============================] - 6s - loss: 0.0012 - val_loss: 0.0015
Epoch 185/200
53/53 [==============================] - 6s - loss: 0.0012 - val_loss: 0.0015
Epoch 186/200
53/53 [==============================] - 6s - loss: 0.0012 - val_loss: 0.0015
Epoch 187/200
53/53 [==============================] - 6s - loss: 0.0012 - val_loss: 0.0015
Epoch 188/200
53/53 [==============================] - 6s - loss: 0.0012 - val_loss: 0.0015
Epoch 189/200
53/53 [==============================] - 6s - loss: 0.0012 - val_loss: 0.0015
Epoch 190/200
53/53 [==============================] - 6s - loss: 0.0012 - val_loss: 0.0015
Epoch 191/200
53/53 [==============================] - 6s - loss: 0.0012 - val_loss: 0.0015
Epoch 192/200
53/53 [==============================] - 6s - loss: 0.0012 - val_loss: 0.0015
Epoch 193/200
53/53 [==============================] - 6s - loss: 0.0012 - val_loss: 0.0015
Epoch 194/200
53/53 [==============================] - 6s - loss: 0.0012 - val_loss: 0.0015
Epoch 195/200
53/53 [==============================] - 6s - loss: 0.0013 - val_loss: 0.0015
Epoch 196/200
53/53 [==============================] - 6s - loss: 0.0012 - val_loss: 0.0015
Epoch 197/200
53/53 [==============================] - 6s - loss: 0.0011 - val_loss: 0.0015
Epoch 198/200
53/53 [==============================] - 6s - loss: 0.0013 - val_loss: 0.0015
Epoch 199/200
53/53 [==============================] - 6s - loss: 0.0012 - val_loss: 0.0015
Epoch 200/200
53/53 [==============================] - 6s - loss: 0.0012 - val_loss: 0.0015
end_time: 2017-10-03 23:04:54.184840, duracion(min): 21
In [31]:
import pickle

def save_history(hist, model_name):
    with open('history_' + model_name +'.pickle', mode='wb') as f:
        pickle.dump(hist.history, f)

save_history(hist, model_name)
In [32]:
## TODO: Save the model as model.h5
#  model.save('my_model.h5')

Step 7: Visualize the Loss and Test Predictions

(IMPLEMENTATION) Answer a few questions and visualize the loss

Question 1: Outline the steps you took to get to your final neural network architecture and your reasoning at each step.

Answer:

Considering that the model has to learn mostly spacial knowledge, like the position of a landmark in relation to a face, I decided to invest most of the power of the model into spacial features and therefore designed a network where most of the weights are in the convolutional layers, with the smallest possible Dense layer (just 30 units) acting as output layer. I didn't thinks there was a point in tryng to learn abstract concepts in this case. I tried the following variations:

  1. I started with 3 convolutional layers, with 16, 32 and 64 filters respectively, each followed by 2x2 max-pooling, whithout neither Dropout nor BatchNormalization, because I wanted to hold out on adding regularization or training speedup until I had evidence of overfitting or slow training.
  2. I added Data Augmentation with a function that flips the left and rights sides of the image.
  3. I added a callback to decay the learning rate, it starts at 0.025 and decreaseses linearly to 0.001 as function on the epoch. The model converged steadily for the first 80 epochs reaching a stable point after 100 epochs, and shows low overfitting (it generalizes well to the validation set), with a training loss of 0.0022 and a validation loss of 0.0023. After 100 epochs the learning process slows down considerably, with both losses remaining nearly constant.
  4. Adding a 4th Convolutional layer with 128 filters did not help, resulting in a training loss of 0.0044 and a validation loss of 0.0045 after 100 epochs.
  5. I tried adding Batch Normalization, the model converges very fast for the fisrt 30 epochs, but then it shows some overfitting, with a training loss of 0.0017 and a validation loss of 0.0025 after 100 epochs.
  6. Considering that BN had introduced overfitting, I added Dropout. BN and Dropout did not improve the model, resulting in a training loss of 0.0036 and a validation loss of 0.0066 after 100 epochs.
  7. Dropout alone (without BatchNormalization) did not improve the model, resulting in a training loss of 0.0033 and a validation loss of 0.0050 after 100 epochs.

Question 2: Defend your choice of optimizer. Which optimizers did you test, and how did you determine which worked best?

Answer: I tried the following optimizers on the model architecture that performed the best (3 conv layers without dropoff):

  • SGD with nesterov momentum and learning rate decay: this is the optimizer that gave the best result, the loss decreases steadily for 100 epochs and there is no sign of overfitting.
  • Adam: this optimizer must run without the learning rate scheduler, because it has its own logic to control the learning rate.
  • Rmsprop: this optimizer stalls after a few epochs and does not lear at all, it sooms that it does not work well with learning rate decay.

Use the code cell below to plot the training and validation loss of your neural network. You may find this resource useful.

In [33]:
## TODO: Visualize the training and validation loss of your neural network
    
def show_training(ax, history, model_name=None):
    ax.plot(history['loss'], linewidth=3, label='train')
    ax.plot(history['val_loss'], linewidth=3, label='valid')
    ax.legend()
    ax.set_xlabel('epoch')
    ax.set_ylabel('loss')
    ax.set_ylim(1e-3, 1e-1)
    ax.set_yscale('log')
    ax.grid(which='major', linestyle='-', linewidth='0.5', color='red')
    ax.grid(which='minor', linestyle=':', linewidth='0.5', color='black')
    if model_name:
        ax.set_title(model_name)

        
def load_history(model_name):
    with open('history_' + model_name + '.pickle', mode='rb') as f:
        hist = pickle.load(f)
    return hist

fig = plt.figure(figsize = (16, 50))

model_name = 'model3_sgd'
hist_dict = load_history(model_name)
ax1 = fig.add_subplot(711)
show_training(ax1, hist_dict, model_name)

model_name = 'model3_adam'
hist_dict = load_history(model_name)
ax1 = fig.add_subplot(712)
show_training(ax1, hist_dict, model_name)

model_name = 'model3_rmsprop'
hist_dict = load_history(model_name)
ax1 = fig.add_subplot(713)
show_training(ax1, hist_dict, model_name)

model_name = 'model4_convX4'
hist_dict = load_history(model_name)
ax5 = fig.add_subplot(714)
show_training(ax5, hist_dict, model_name)

model_name = 'Model5_BN'
hist_dict = load_history(model_name)
ax2 = fig.add_subplot(715)
show_training(ax2, hist_dict, model_name)

model_name = 'Model6_BN_Dropout'
hist_dict = load_history(model_name)
ax3 = fig.add_subplot(716)
show_training(ax3, hist_dict, model_name)

model_name = 'Model7_Dropout'
hist_dict = load_history(model_name)
ax4 = fig.add_subplot(717)
show_training(ax4, hist_dict, model_name)

Question 3: Do you notice any evidence of overfitting or underfitting in the above plot? If so, what steps have you taken to improve your model? Note that slight overfitting or underfitting will not hurt your chances of a successful submission, as long as you have attempted some solutions towards improving your model (such as regularization, dropout, increased/decreased number of layers, etc).

Answer:

  • I did not notice evidence of overfitting, the validation loss decreased and then stabilized, but it never increased. The training loss remained slightly below the validation loss.
  • Had I noticed evidence of overfitting (training and validation losses starting to diverge) I would have tried adding Dropout or increasing the batch size to see if that helped.

Visualize a Subset of the Test Predictions

Execute the code cell below to visualize your model's predicted keypoints on a subset of the testing images.

In [34]:
# load the best model
model.load_weights('model3_sgd.best.hdf5')
In [35]:
y_test = model.predict(X_test)
fig = plt.figure(figsize=(20,20))
fig.subplots_adjust(left=0, right=1, bottom=0, top=1, hspace=0.05, wspace=0.05)
for i in range(9):
    ax = fig.add_subplot(3, 3, i + 1, xticks=[], yticks=[])
    plot_data(X_test[i], y_test[i], ax)

Step 8: Complete the pipeline

With the work you did in Sections 1 and 2 of this notebook, along with your freshly trained facial keypoint detector, you can now complete the full pipeline. That is given a color image containing a person or persons you can now

  • Detect the faces in this image automatically using OpenCV
  • Predict the facial keypoints in each face detected in the image
  • Paint predicted keypoints on each face detected

In this Subsection you will do just this!

(IMPLEMENTATION) Facial Keypoints Detector

Use the OpenCV face detection functionality you built in previous Sections to expand the functionality of your keypoints detector to color images with arbitrary size. Your function should perform the following steps

  1. Accept a color image.
  2. Convert the image to grayscale.
  3. Detect and crop the face contained in the image.
  4. Locate the facial keypoints in the cropped image.
  5. Overlay the facial keypoints in the original (color, uncropped) image.

Note: step 4 can be the trickiest because remember your convolutional network is only trained to detect facial keypoints in $96 \times 96$ grayscale images where each pixel was normalized to lie in the interval $[0,1]$, and remember that each facial keypoint was normalized during training to the interval $[-1,1]$. This means - practically speaking - to paint detected keypoints onto a test face you need to perform this same pre-processing to your candidate face - that is after detecting it you should resize it to $96 \times 96$ and normalize its values before feeding it into your facial keypoint detector. To be shown correctly on the original image the output keypoints from your detector then need to be shifted and re-normalized from the interval $[-1,1]$ to the width and height of your detected face.

When complete you should be able to produce example images like the one below

In [36]:
# Load in color image for face detection
image = cv2.imread('images/obamas4.jpg')

# Convert the image to RGB colorspace
image = cv2.cvtColor(image, cv2.COLOR_BGR2RGB)

# plot our image
fig = plt.figure(figsize = (9,9))
ax1 = fig.add_subplot(111)
ax1.set_xticks([])
ax1.set_yticks([])
ax1.set_title('image')
ax1.imshow(image)
Out[36]:
<matplotlib.image.AxesImage at 0x7fa15dcc0b38>
In [37]:
### TODO: Use the face detection code we saw in Section 1 with your trained conv-net 
# Convert the RGB  image to grayscale
gray = cv2.cvtColor(image, cv2.COLOR_RGB2GRAY)

# Extract the pre-trained face detector from an xml file
face_cascade = cv2.CascadeClassifier('detector_architectures/haarcascade_frontalface_default.xml')

# Detect the faces in image
faces = face_cascade.detectMultiScale(gray, 1.25, 6)

# Print the number of faces detected in the image
print('Number of faces detected:', len(faces))

# Make a copy of the orginal image to draw face detections on
image_with_detections = np.copy(image)
    
## TODO : Paint the predicted keypoints on the test image
x_landmarks = []
y_landmarks = []
for (x,y,w,h) in faces:
    # Add a red bounding box to the detections image
    cv2.rectangle(image_with_detections, (x,y), (x+w,y+h), (255,0,0), 2)

    # crop face
    face = image[y:y+h,x:x+w]

    # resize faces
    # this will resize the image to have 96 cols (width) and 96 rows (height)
    resized_face = cv2.resize(face, (96, 96)) 
    fig = plt.figure(figsize = (9,9))
    ax = fig.add_subplot(111)
    _ = ax.imshow(resized_face, cmap='gray') 
    
    # predict keypoints
    # convert to grayscale and normalize
    gray_face = cv2.cvtColor(resized_face, cv2.COLOR_RGB2GRAY) / 255  
    # convert into a rank 4 tensor of shape (None, 96, 96, 1)
    gray_face = np.expand_dims(np.expand_dims(gray_face, axis=-1), axis=0) 
    landmarks = model.predict(gray_face)
    # remove additional dimensions
    landmarks = np.squeeze(landmarks)

    # paint the keypoints on the cropped faces
    landmarks = landmarks * 48 + 48 # undo the normalization
    ax.scatter(x=landmarks[0::2], y=landmarks[1::2], marker='o', c='cyan', s=40)
    
    # store the keypoints scaled up to the original image size
    x_landmarks.append(x + landmarks[0::2] * w/96)
    y_landmarks.append(y + landmarks[1::2] * h/96)
    
# show the image with the bounding boxes
fig = plt.figure(figsize = (9,9))
ax = fig.add_subplot(111)
ax.set_xticks([])
ax.set_yticks([])
ax.set_title('image with facial keypoints')
_ = ax.imshow(image_with_detections)

# plot the landmaks on the original image
for i in range(len(x_landmarks)):
    ax.scatter(x=x_landmarks[i], y=y_landmarks[i], marker='o', c='#8FF08F', s=5)
Number of faces detected: 2

(Optional) Further Directions - add a filter using facial keypoints to your laptop camera

Now you can add facial keypoint detection to your laptop camera - as illustrated in the gif below.

The next Python cell contains the basic laptop video camera function used in the previous optional video exercises. Combine it with the functionality you developed for keypoint detection and marking in the previous exercise and you should be good to go!

In [38]:
def add_landmarks(image):
    gray = cv2.cvtColor(image, cv2.COLOR_RGB2GRAY)

    # Extract the pre-trained face detector from an xml file
    face_cascade = cv2.CascadeClassifier('detector_architectures/haarcascade_frontalface_default.xml')

    # Detect the faces in image
    faces = face_cascade.detectMultiScale(gray, 1.25, 6)

    ## TODO : Paint the predicted keypoints on the test image
    for (x,y,w,h) in faces:
        # Add a red bounding box to the detections image
        cv2.rectangle(image, (x,y), (x+w,y+h), (0,0,255), 2)

        # crop face
        face = image[y:y+h,x:x+w]

        # resize faces
        # this will resize the image to have 96 cols (width) and 96 rows (height)
        resized_face = cv2.resize(face, (96, 96)) 

        # predict keypoints
        # convert to grayscale and normalize
        gray_face = cv2.cvtColor(resized_face, cv2.COLOR_RGB2GRAY) / 255  
        # convert into a rank 4 tensor of shape (None, 96, 96, 1)
        gray_face = np.expand_dims(np.expand_dims(gray_face, axis=-1), axis=0) 
        landmarks = model.predict(gray_face)
        # remove additional dimensions
        landmarks = np.squeeze(landmarks)

        # paint the keypoints on the cropped faces
        landmarks = landmarks * 48 + 48 # undo the normalization

        # draw the keypoints scaled up to the original image size
        x_landmarks = x + landmarks[0::2] * w/96
        y_landmarks = y + landmarks[1::2] * h/96

        # plot the landmaks on the original image
        for y_landmark, x_landmark in zip(y_landmarks, x_landmarks):
            cv2.circle(image,(x_landmark, y_landmark), 2, (125,250,125), 2)
In [39]:
# Load in color image for face detection
image = cv2.imread('images/obamas4.jpg')

# Convert the image to RGB colorspace
image = cv2.cvtColor(image, cv2.COLOR_BGR2RGB)

add_landmarks(image)

# plot our image
fig = plt.figure(figsize = (9,9))
ax1 = fig.add_subplot(111)
ax1.set_xticks([])
ax1.set_yticks([])
ax1.set_title('image')
ax1.imshow(image)
Out[39]:
<matplotlib.image.AxesImage at 0x7fa159065e80>
In [40]:
import cv2
import time 
from keras.models import load_model
def laptop_camera_go():
    # Create instance of video capturer
    cv2.namedWindow("face detection activated")
    vc = cv2.VideoCapture(0)

    # Try to get the first frame
    if vc.isOpened(): 
        rval, frame = vc.read()
    else:
        rval = False
    
    # keep video stream open
    while rval:
        
        add_landmarks(frame)
        # plot image from camera with detections marked
        cv2.imshow("face detection activated", frame)

        
        # exit functionality - press any key to exit laptop video
        key = cv2.waitKey(20)
        if key > 0: # exit by pressing any key
            # destroy windows
            cv2.destroyAllWindows()
            
            # hack from stack overflow for making sure window closes on osx --> https://stackoverflow.com/questions/6116564/destroywindow-does-not-close-window-on-mac-using-python-and-opencv
            for i in range (1,5):
                cv2.waitKey(1)
            return
        
        # read next frame
        time.sleep(0.05)             # control framerate for computation - default 20 frames per sec
        rval, frame = vc.read()  
In [41]:
# Run your keypoint face painter
laptop_camera_go()

(Optional) Further Directions - add a filter using facial keypoints

Using your freshly minted facial keypoint detector pipeline you can now do things like add fun filters to a person's face automatically. In this optional exercise you can play around with adding sunglasses automatically to each individual's face in an image as shown in a demonstration image below.

To produce this effect an image of a pair of sunglasses shown in the Python cell below.

In [42]:
# Load in sunglasses image - note the usage of the special option
# cv2.IMREAD_UNCHANGED, this option is used because the sunglasses 
# image has a 4th channel that allows us to control how transparent each pixel in the image is
sunglasses = cv2.imread("images/sunglasses_4.png", cv2.IMREAD_UNCHANGED)

# Plot the image
fig = plt.figure(figsize = (6,6))
ax1 = fig.add_subplot(111)
ax1.set_xticks([])
ax1.set_yticks([])
ax1.imshow(sunglasses)
ax1.axis('off');

This image is placed over each individual's face using the detected eye points to determine the location of the sunglasses, and eyebrow points to determine the size that the sunglasses should be for each person (one could also use the nose point to determine this).

Notice that this image actually has 4 channels, not just 3.

In [43]:
# Print out the shape of the sunglasses image
print ('The sunglasses image has shape: ' + str(np.shape(sunglasses)))
The sunglasses image has shape: (1123, 3064, 4)

It has the usual red, blue, and green channels any color image has, with the 4th channel representing the transparency level of each pixel in the image. Here's how the transparency channel works: the lower the value, the more transparent the pixel will become. The lower bound (completely transparent) is zero here, so any pixels set to 0 will not be seen.

This is how we can place this image of sunglasses on someone's face and still see the area around of their face where the sunglasses lie - because these pixels in the sunglasses image have been made completely transparent.

Lets check out the alpha channel of our sunglasses image in the next Python cell. Note because many of the pixels near the boundary are transparent we'll need to explicitly print out non-zero values if we want to see them.

In [44]:
# Print out the sunglasses transparency (alpha) channel
alpha_channel = sunglasses[:,:,3]
print ('the alpha channel here looks like')
print (alpha_channel)

# Just to double check that there are indeed non-zero values
# Let's find and print out every value greater than zero
values = np.where(alpha_channel != 0)
print ('\n the non-zero values of the alpha channel look like')
print (values)
the alpha channel here looks like
[[0 0 0 ..., 0 0 0]
 [0 0 0 ..., 0 0 0]
 [0 0 0 ..., 0 0 0]
 ..., 
 [0 0 0 ..., 0 0 0]
 [0 0 0 ..., 0 0 0]
 [0 0 0 ..., 0 0 0]]

 the non-zero values of the alpha channel look like
(array([  17,   17,   17, ..., 1109, 1109, 1109]), array([ 687,  688,  689, ..., 2376, 2377, 2378]))

This means that when we place this sunglasses image on top of another image, we can use the transparency channel as a filter to tell us which pixels to overlay on a new image (only the non-transparent ones with values greater than zero).

One last thing: it's helpful to understand which keypoint belongs to the eyes, mouth, etc. So, in the image below, we also display the index of each facial keypoint directly on the image so that you can tell which keypoints are for the eyes, eyebrows, etc.

With this information, you're well on your way to completing this filtering task! See if you can place the sunglasses automatically on the individuals in the image loaded in / shown in the next Python cell.

In [45]:
# Load in color image for face detection
image = cv2.imread('images/obamas4.jpg')

# Convert the image to RGB colorspace
image = cv2.cvtColor(image, cv2.COLOR_BGR2RGB)


# Plot the image
fig = plt.figure(figsize = (8,8))
ax1 = fig.add_subplot(111)
ax1.set_xticks([])
ax1.set_yticks([])
ax1.set_title('Original Image')
ax1.imshow(image)
Out[45]:
<matplotlib.image.AxesImage at 0x7fa159108eb8>
In [46]:
## (Optional) TODO: Use the face detection code we saw in Section 1 with your trained conv-net to put
## sunglasses on the individuals in our test image
In [47]:
# Extract the pre-trained face detector from an xml file
face_cascade = cv2.CascadeClassifier('detector_architectures/haarcascade_frontalface_default.xml')

def get_landmarks(image):
    gray = cv2.cvtColor(image, cv2.COLOR_RGB2GRAY)

    # Detect the faces in image
    faces = face_cascade.detectMultiScale(gray, 1.25, 6)

    face_list = []
    for (x,y,w,h) in faces:

        # crop face
        face = image[y:y+h,x:x+w]

        # resize faces to the size expected by the model
        # this will resize the image to have 96 cols (width) and 96 rows (height)
        resized_face = cv2.resize(face, (96, 96)) 

        # predict keypoints
        # convert to grayscale and normalize
        gray_face = cv2.cvtColor(resized_face, cv2.COLOR_RGB2GRAY) / 255  
        # convert into a rank 4 tensor of shape (None, 96, 96, 1)
        gray_face = np.expand_dims(np.expand_dims(gray_face, axis=-1), axis=0) 
        landmarks = model.predict(gray_face)
        # remove additional dimensions
        landmarks = np.squeeze(landmarks)

        # scale the keypoints values to the original image
        landmarks = landmarks * 48 + 48 # undo the normalization

        # draw the keypoints scaled up to the original image size
        x_landmarks = x + landmarks[0::2] * w/96
        y_landmarks = y + landmarks[1::2] * h/96

        face_list.append(list(zip(x_landmarks, y_landmarks)))

    return face_list
In [48]:
def overlay_image_alpha(img, img_overlay, pos, alpha_mask):
    """Overlay img_overlay on top of img at the position specified by
    pos and blend using alpha_mask.
    Alpha mask must contain values within the range [0, 1] and be the
    same size as img_overlay.
    
    source: stackoverflow post
    https://stackoverflow.com/questions/14063070/overlay-a-smaller-image-on-a-larger-image-python-opencv
    """

    x, y = pos

    # Image ranges
    y1, y2 = max(0, y), min(img.shape[0], y + img_overlay.shape[0])
    x1, x2 = max(0, x), min(img.shape[1], x + img_overlay.shape[1])

    # Overlay ranges
    y1o, y2o = max(0, -y), min(img_overlay.shape[0], img.shape[0] - y)
    x1o, x2o = max(0, -x), min(img_overlay.shape[1], img.shape[1] - x)

    # Exit if nothing to do
    if y1 >= y2 or x1 >= x2 or y1o >= y2o or x1o >= x2o:
        return

    channels = img.shape[2]

    alpha = alpha_mask[y1o:y2o, x1o:x2o]
    alpha_inv = 1.0 - alpha

    for c in range(channels):
        img[y1:y2, x1:x2, c] =  alpha * img_overlay[y1o:y2o, x1o:x2o, c] +\
                                alpha_inv * img[y1:y2, x1:x2, c]
In [49]:
def add_sunglasses(img, sunglasses):
    sunglasses_height, sunglasses_width, _ = sunglasses.shape
    faces = get_landmarks(img)
    for landmarks in faces:
        eyebrow1 = landmarks[9]
        eyebrow2 = landmarks[7]
        face_width = eyebrow2[0] - eyebrow1[0]

        sunglasses_scale_factor = face_width / sunglasses_width    
        resized_sunglasses = cv2.resize(sunglasses, (int(sunglasses_width * sunglasses_scale_factor), 
                                                     int(sunglasses_height* sunglasses_scale_factor)))
        resized_sunglasses_height, resized_sunglasses_width, c = resized_sunglasses.shape
        sunglasses_position = (int(eyebrow1[0]), int(eyebrow1[1] ))

        overlay_image_alpha(img,
                            resized_sunglasses[:, :, 0:3],
                            sunglasses_position,
                            resized_sunglasses[:, :, 3] / 255.0)
In [50]:
# add sunglasses to all the faces in the image    
img = image.copy()
add_sunglasses(img, sunglasses)

# Plot the image
fig = plt.figure(figsize = (8,8))
ax1 = fig.add_subplot(111)
ax1.set_xticks([])
ax1.set_yticks([])
ax1.set_title('Filtered Image')
_=ax1.imshow(img)

(Optional) Further Directions - add a filter using facial keypoints to your laptop camera

Now you can add the sunglasses filter to your laptop camera - as illustrated in the gif below.

The next Python cell contains the basic laptop video camera function used in the previous optional video exercises. Combine it with the functionality you developed for adding sunglasses to someone's face in the previous optional exercise and you should be good to go!

In [51]:
import cv2
import time 
from keras.models import load_model
import numpy as np

def laptop_camera_go():
    # Create instance of video capturer
    cv2.namedWindow("face detection activated")
    vc = cv2.VideoCapture(0)

    # try to get the first frame
    if vc.isOpened(): 
        rval, frame = vc.read()
    else:
        rval = False
    
    # Keep video stream open
    while rval:
        
        add_sunglasses(frame, sunglasses)
        
        # Plot image from camera with detections marked
        cv2.imshow("face detection activated", frame)
        
        # Exit functionality - press any key to exit laptop video
        key = cv2.waitKey(20)
        if key > 0: # exit by pressing any key
            # Destroy windows 
            cv2.destroyAllWindows()
            
            for i in range (1,5):
                cv2.waitKey(1)
            return
        
        # Read next frame
        time.sleep(0.05)             # control framerate for computation - default 20 frames per sec
        rval, frame = vc.read()    
        
In [52]:
# Run sunglasses painter
laptop_camera_go()